speed performance test

[thomastangucb]

Thanks for sharing the code, Ohirose!

Did you test the speed performance of this C implementation compared to other Matlab, or C++ implementation? I would like to know how fast this C implementation could provide. Thanks a lot.

[ohirose]

Thank you for being interested in my implementation!
Actually, this implementation is NOT fast because I did not currently implement any faster methods to compute pairwise matching probability such as improved fast Gauss transform and truncate Gaussian functions with the KD-tree neighbor search. Within several months, I am going to share a faster version of CPD implementation written in pure C. Thanks a lot!

[thomastangucb]

Got it! I am working on a project which runs real-time registration, so speed is a big issue for me. Looking forward to your update and best wishes!